Assistance control system

ABSTRACT

An assistance control system performs assistance control for causing a moving object to move to a destination based on map information. The assistance control system includes an electronic control unit. The electronic control unit is configured to generate or update the map information based on input from a sensor mounted on the moving object, acquire a plurality of route candidates to the destination, evaluate certainty of the map information for each location or each section, and calculate a map information evaluation value, evaluate accuracy of the assistance control in the acquired route candidates based on the calculated map information evaluation value, and present a route candidate having the highest priority among the route candidates to an occupant of the moving object, or control the moving object along the route candidate having the highest priority.

INCORPORATION BY REFERENCE

The disclosure of Japanese Patent Application No. 2018-193670 filed onOct. 12, 2018 including the specification, drawings and abstract isincorporated herein by reference in its entirety.

BACKGROUND 1. Technical Field

The present disclosure relates to an assistance control system.

2. Description of Related Art

In the related art, as disclosed in WO 2016/0139748, there is atechnique in which, in a vehicle that can perform autonomous driving, alocation where autonomous driving is difficult from a current locationto a destination is calculated based on surrounding environmentinformation (hereinafter, referred to as “map information” in thepresent specification), and an avoidance route for avoiding the locationwhere autonomous driving is difficult is calculated.

SUMMARY

Here, calculation of a location where autonomous driving is difficult orcalculation of an avoidance route depends on the accuracy of acquiredmap information. In a case where the map information is not sufficient,there is a probability that the calculation may not be accuratelyperformed, and thus it is desirable to increase the accuracy of the mapinformation.

The present disclosure provides an assistance control system capable ofcontributing to increasing the accuracy of map information.

An aspect of the present disclosure relates to an assistance controlsystem. The assistance control system includes a map database storingmap information, and performs assistance control for causing a movingobject to move to a destination based on the map information. Theassistance control system includes an electronic control unit. Theelectronic control unit is configured to generate or update the mapinformation based on input from a sensor mounted on the moving object,acquire a plurality of route candidates to the destination, evaluatecertainty of the map information for each location or each section, andcalculate a map information evaluation value, evaluate accuracy of theassistance control in the acquired route candidates based on thecalculated map information evaluation value, set a priority of a routecandidate evaluated lower among the route candidates, to be higher thanpriorities of other route candidates, and present a route candidatehaving the highest priority among the route candidates to an occupant ofthe moving object, or control the moving object along the routecandidate having the highest priority.

According to the aspect, among a plurality of route candidates acquiredin advance, a priority of a route candidate evaluated lower is set to behigher than priorities of other route candidates based on the mapinformation evaluation value. A route having the highest priority ispresented to an occupant of the moving object, or the moving object iscontrolled along the route. In other words, based on the map informationevaluation value, a route candidate evaluated higher than other routecandidates, that is, a route candidate in which the accuracy of the mapinformation is high is not selected on purpose, and a route candidateevaluated lower than other route candidates, that is, a route candidatein which the accuracy of the map information is lower than those ofother route candidates is selected. Therefore, a route candidate inwhich acquisition of map information is desirable by performing a largernumber of movements than in other route candidates is morepreferentially presented to an occupant than other route candidates, orthe moving object is controlled along the route, and thus this cancontribute to increasing the accuracy of map information.

In the assistance control system according to the aspect, the electroniccontrol unit may be configured to calculate a distance of a section inwhich the calculated map information evaluation value is smaller than apredetermined threshold value in each of the route candidates, andincrease a priority of a route candidate having the longer distancecompared with a priority of a route candidate having the shorterdistance among the route candidates.

According to the aspect, a route having a longer distance for which mapinformation is not sufficiently acquired is preferentially presented toan occupant or the moving object is controlled along the route, and thiscan further contribute to increasing the accuracy of map information.

In the assistance control system according to the aspect, the electroniccontrol unit may be configured to update the map information evaluationvalue due to movement of the moving object along the route candidatehaving the highest priority, and reduce the priority of the routecandidate having the highest priority based on a change amount of themap information evaluation value within a predetermined time.

According to the aspect, it is determined whether selection of a routeis appropriate based on a change amount of a map information evaluationvalue due to update of map information, and it is possible to determinewhether another route is presented to an occupant or the moving objectis controlled along the route by reducing a priority when the selectionis not appropriate. Therefore, it is possible to further contribute toincreasing the accuracy of map information.

In the assistance control system according to the aspect, when thenumber of times of the moving object having moved along the routecandidate having the highest priority is equal to or larger than apredetermined number of times, the electronic control unit may beconfigured to determine whether the change amount between the mapinformation evaluation value before the moving object moves and the mapinformation evaluation value after the moving object moves is equal toor smaller than a first predetermined amount, and reduce the priority ofthe route candidate having the highest priority when the electroniccontrol unit determines that the change amount is equal to or smallerthan the first predetermined amount.

According to the aspect, when a map information evaluation value is notimproved by a predetermined amount within a predetermined time despitemap information being updated, the route can be changed to another routein which a map information evaluation value is more easily improved, andthe changed route can be presented to an occupant or the moving objectcan be controlled along the changed route. Therefore, it is possible tofurther contribute to increasing the accuracy of map information.

In the assistance control system according to the aspect, the electroniccontrol unit may be configured to determine whether the change amount isequal to or larger than a second predetermined amount larger than thefirst predetermined amount, and reduce the priority of the routecandidate having the highest priority when the electronic control unitdetermines that the change amount is equal to or larger than the secondpredetermined amount.

According to the aspect of the present disclosure, it is possible toprovide the assistance control system capable of contributing toincreasing the accuracy of map information.

BRIEF DESCRIPTION OF THE DRAWINGS

Features, advantages, and technical and industrial significance ofexemplary embodiments of the disclosure will be described below withreference to the accompanying drawings, in which like numerals denotelike elements, and wherein:

FIG. 1 is a block diagram illustrating a configuration of an assistancecontrol system according to a first embodiment;

FIG. 2 is a block diagram illustrating a configuration of an electroniccontrol unit (ECU) of the assistance control system according to thefirst embodiment;

FIG. 3 is a diagram for describing an example of setting a routecandidate priority and illustrating examples of route candidatesincluding an unsuitable section;

FIG. 4A is a graph illustrating an example of a map informationevaluation value calculated for each route candidate, and illustrates anevaluation value of a route candidate a;

FIG. 4B is a graph illustrating an example of a map informationevaluation value calculated for each route candidate, and illustrates anevaluation value of a route candidate b;

FIG. 5 is a block diagram illustrating another configuration of theassistance control system according to the first embodiment;

FIG. 6 is a block diagram illustrating still another configuration ofthe assistance control system according to the first embodiment;

FIG. 7 is a flowchart illustrating a process performed by the assistancecontrol system illustrated in FIG. 1;

FIG. 8 is a flowchart illustrating a process performed by the assistancecontrol system illustrated in FIG. 1;

FIG. 9A is a diagram for describing an example of setting a routecandidate priority and illustrating examples of route candidatesincluding an unsuitable section;

FIG. 9B is a diagram for describing an example of setting a routecandidate priority and illustrating examples of route candidatesincluding an unsuitable section;

FIG. 9C is a diagram for describing an example of setting a routecandidate priority and illustrating examples of route candidatesincluding an unsuitable section;

FIG. 10 is a block diagram illustrating a configuration of an ECU of anassistance control system according to a second embodiment;

FIG. 11 is a flowchart illustrating a process performed by theassistance control system according to the second embodiment;

FIG. 12 is a schematic diagram illustrating stationary object mapinformation that is an example of map information;

FIG. 13 is a schematic diagram illustrating characteristic object mapinformation that is an example of the map information; and

FIG. 14 is a schematic diagram illustrating terrain map information thatis an example of the map information.

DETAILED DESCRIPTION OF EMBODIMENTS

Hereinafter, embodiments of the present disclosure will be described indetail with reference to the drawings. In the following description,identical or similar elements are given the same reference numeral, anda repeated description will not be made. The present disclosure isapplicable to general moving objects, but, in the following description,as a moving object, a vehicle, specifically, a vehicle that can performautonomous driving will be described.

First Embodiment

FIG. 1 is a block diagram illustrating a configuration of an assistancecontrol system 100 according to the first embodiment. In the followingportion of the present specification, as illustrated in FIG. 1, adescription will be made assuming that the entire assistance controlsystem 100 is mounted on a vehicle 300 such as an automobile, but, aswill be described later, there may be an aspect in which the whole or apart of the assistance control system 100 is provided in others than avehicle, for example, a data center. The assistance control system 100includes an external sensor 1, a global positioning system (GPS)receiver 2, an internal sensor 3, a map database 4, a navigation system5, an actuator 6, a human machine interface (HMI) 7, and an ECU 10.

The external sensor 1 is a detector that detects external situationsthat are surrounding information of the vehicle 300. The external sensor1 includes at least one of a camera, radio detecting and ranging(radar), and laser imaging detection and ranging (LIDAR). The camera isan imaging device that images external situations of the vehicle 300.

The camera is provided, for example, behind a windshield of the vehicle300. The camera transmits imaging information regarding externalsituations of the vehicle 300 to the ECU 10. The camera may be amonocular camera, and may be a stereo camera.

The radar detects an external obstacle of the vehicle 300 by using anelectric wave (for example, a millimeter wave). The radar transmitselectric waves toward the periphery of the vehicle 300, and detects anobstacle by receiving electric waves reflected from the obstacle. Theradar transmits information regarding the detected obstacle to the ECU10.

The LIDAR detects an external obstacle of the vehicle 300 by usinglight. The LIDAR transmits light to the periphery of the vehicle 300,measures a distance to a reflection point by receiving light reflectedfrom an obstacle, and detects the obstacle. The LIDAR transmitsinformation regarding the detected obstacle to the ECU 10. All of thecamera, the radar, and the LIDAR are not necessarily needed to beprovided.

The GPS receiver 2 receives signals from three or more GPS satellites,and thus measures a position of the vehicle 300 (for example, latitudeand longitude of the vehicle 300). The GPS receiver 2 transmitsinformation regarding the measured position of the vehicle 300 to theECU 10. Other means for specifying latitude and longitude of the vehicle300 may be used instead of the GPS receiver 2. The function of the GPSreceiver 2 measuring an azimuth of the vehicle 300 is preferably used tocollate a measurement result in a sensor with map information which willbe described later.

The internal sensor 3 is a detector that detects a traveling state ofthe vehicle 300. The internal sensor 3 includes at least one of avehicle speed sensor, an acceleration sensor, and a yaw rate sensor. Thevehicle speed sensor is a detector that detects a speed of the vehicle300. As the vehicle speed sensor, for example, a wheel speed sensor thatis provided on a wheel of the vehicle 300 or a drive shaft that isintegrally rotated with the wheel, and detects a rotational speed of thewheel, is used. The vehicle speed sensor transmits information regardingthe detected vehicle speed (wheel speed information) to the ECU 10.

The acceleration sensor is a detector that detects acceleration of thevehicle 300. The acceleration sensor includes, for example, afront-and-rear acceleration sensor that detects acceleration of thevehicle 300 in the front-rear direction thereof, and a lateralacceleration sensor that detects lateral acceleration of the vehicle300. The acceleration sensor transmits, for example, accelerationinformation of the vehicle 300 to the ECU 10. The yaw rate sensor is adetector that detects a yaw rate (rotation angular velocity) about thevertical axis of the centroid of the vehicle 300. For example, a gyrosensor may be used as the yaw rate sensor. The yaw rate sensor transmitsinformation regarding the detected yaw rate of the vehicle 300 to theECU 10.

The map database 4 is a database including map information. The mapdatabase is provided in, for example, a hard disk drive (HDD) mounted onthe vehicle. The map information includes, for example, positioninformation of a road, information regarding a road shape (for example,a curve, the type of linear portion, and a curvature of a curve), andposition information of each of an intersection and a crossroad. The mapinformation preferably includes an output signal from the externalsensor 1 in order to use position information of a shielding structuresuch as a building or a wall, or a simultaneous localization and mapping(SLAM) technique. The map database may be stored in a computer of afacility such as an information processing center that can performcommunication with the vehicle 300, and this will be described later.The map database 4 may include legal speed limit information that isinformation regarding legal speed limits of a road on which a hostvehicle is traveling and a road intersecting the road.

The navigation system 5 is a device that guides a driver of the vehicle300 to a destination set by the driver of the vehicle 300.

The actuator 6 is a device that controls traveling of the vehicle 300.The actuator 6 includes at least a throttle actuator, a brake actuator,and a steering actuator. In a case where the vehicle 300 is a hybridvehicle or an electric vehicle, the throttle actuator is not provided,and a control signal is input to a motor as a power source from the ECU10 such that drive force thereof is controlled.

The brake actuator controls a brake system in response to a controlsignal from the ECU 10, and controls braking force applied to the wheelsof the vehicle 300. Consequently, the steering actuator controlssteering torque of the vehicle 300.

The HMI 7 is an interface used to output and input information betweenan occupant (including the driver) of the vehicle 300 and the assistancecontrol system 100. The HMI 7 includes, for example, a display panel onwhich image information is displayed to occupants, a speaker outputtingsounds, and operation buttons or a touch panel used for the occupants toperform input operations thereon.

The ECU 10 controls autonomous traveling of the vehicle 300. FIG. 2illustrates functions of the ECU 10. The ECU 10 is an electronic controlunit including a central processing unit (CPU), a read only memory(ROM), a random access memory (RAM), and the like. The ECU 10 loads aprogram stored in the ROM to the RAM, and performs various types ofcontrol by the CPU controlling the program. The ECU 10 may include aplurality of electronic control units.

The ECU 10 includes a vehicle position recognition unit 11, an externalsituation recognition unit 12, a traveling state recognition unit 13, atraveling plan generation unit 14, a traveling controller 15, a mapinformation generation unit 16, a map information evaluation valuecalculation unit 17, a route candidate acquisition unit 18, a routecandidate evaluation unit 19, and a route candidate priority settingunit 20.

The vehicle position recognition unit 11 recognizes a position(hereinafter, referred to as a “vehicle position”) of the vehicle 300 ona map based on position information of the vehicle 300 received by theGPS receiver 2 and map information in the map database 4. The vehicleposition recognition unit 11 may acquire a vehicle position used by thenavigation system 5 from the navigation system 5, so as to recognize thevehicle position. In a case where a vehicle position of the vehicle 300can be measured by a sensor provided in the outside such as a road, thevehicle position recognition unit 11 may acquire a vehicle position fromthe sensor through communication.

The external situation recognition unit 12 recognizes externalsituations of the vehicle 300 based on a detection result (for example,imaging information from the camera, obstacle information from theradar, and obstacle information from the LIDAR) in the external sensor1. The external situations include, for example, positions of whitelines of a traveling lane or a position of the lane center with respectto the vehicle 300 and a road width, a shape of a road (for example, acurvature of a traveling lane, a road surface slope change effective forprospect estimation in the external sensor 1, and meandering), andsituations of surrounding obstacles of the vehicle 300 (for example,information for differentiating a fixed obstacle from a moving obstacle,a position of an obstacle with respect to the vehicle 300, a movementdirection of an obstacle with respect to the vehicle 300, and a relativespeed of an obstacle with respect to the vehicle 300). Preferably, adetection result in the external sensor 1 is collated with the mapinformation, and thus the accuracy of a position and a direction of thevehicle 300 acquired from the GPS receiver 2 or the like issupplemented.

The traveling state recognition unit 13 recognizes a traveling state ofthe vehicle 300 based on detection results in the internal sensor 3 (forexample, vehicle speed information from the vehicle speed sensor,acceleration information from the acceleration sensor, and yaw rateinformation from the yaw rate sensor). A traveling state of the vehicle300 includes, for example, a vehicle speed, acceleration, and a yawrate.

The traveling plan generation unit 14 generates a course of the vehicle300 based on, for example, a target route calculated by the navigationsystem 5, a vehicle position recognized by the vehicle positionrecognition unit 11, and external situations of the vehicle 300(including a position and an azimuth of the vehicle) recognized by theexternal situation recognition unit 12. The course is a trajectory onwhich the vehicle 300 advances in the target route. The traveling plangeneration unit 14 generates the course such that the vehicle 300appropriately travels on the target route in light of safety, compliancewith the law, traveling efficiency, and the like. In this case, needlessto say, the traveling plan generation unit 14 generates the course ofthe vehicle 300 to avoid contact with an obstacle based on situations ofsurrounding obstacles of the vehicle 300. The target route mentionedhere also includes a traveling route that is automatically generatedbased on external situations or the map information when a destinationis not explicitly set by the driver.

The traveling plan generation unit 14 generates a traveling plancorresponding to the generated course. In other words, the travelingplan generation unit 14 generates a traveling plan according to thepreset target route based on at least external situations correspondingto surrounding information of the vehicle 300 and the map information inthe map database 4. The traveling plan may be data indicating changes ina vehicle speed, acceleration and deceleration, steering torque, and thelike of the vehicle 300 when the vehicle 300 is traveling on the coursealong the target route. The traveling plan may include a speed pattern,an acceleration-and-deceleration pattern, and a steering pattern of thevehicle 300. The traveling plan generation unit 14 mentioned here maygenerate the traveling plan such that a trip time (a required timeneeded for the vehicle 300 to arrive at a destination) is smallest. Thetraveling plan includes a plan generated based on a traveling route setbefore traveling is started, and also includes a traveling plangenerated based on dynamic factors during traveling, for example,detection results in the external situation recognition unit 12. Atraveling plan generated in the past may be updated to a traveling plangenerated based on dynamic factors during traveling.

The speed pattern is, for example, data including a target vehicle speedset in association with time for each target control position withrespect to target control positions that are set at a predeterminedinterval (for example, 1 m) on a course. Theacceleration-and-deceleration pattern is, for example, data includingtarget acceleration and deceleration set in association with time foreach target control position with respect to target control positionsthat are set at a predetermined interval (for example, 1 m) on a course.The steering pattern is, for example, data including target steeringtorque set in association with time for each target control positionwith respect to target control positions that are set at a predeterminedinterval (for example, 1 m) on a course.

The traveling controller 15 autonomously controls traveling of thevehicle 300 based on the traveling plan generated by the traveling plangeneration unit 14. The traveling controller 15 outputs control signalscorresponding to the traveling plan to the actuator 6. Consequently, thetraveling controller 15 controls traveling of the vehicle 300 such thatthe vehicle 300 autonomously travels according to the traveling plan.

The map information generation unit 16 generates map information basedon sensor input that is input from the external sensor 1, or updates themap information stored in the map database 4. Specifically, the mapinformation is generated or updated by using, as the input,self-position estimation information, trajectory information, stationaryobject map information, and slope map information.

The map information evaluation value calculation unit 17 calculates amap information evaluation value for evaluating the map informationgenerated or updated by the map information generation unit 16. The mapinformation evaluation value is a value indicating the quality of themap information, in other words, the certainty. The map informationevaluation value may be calculated at each location in a route candidatewhich will be described later, and may be calculated for each sectionwith a predetermined length. The map information evaluation value ispreferably sequentially updated in accordance with a plurality of timesof traveling of the vehicle 300 at an identical location or on anidentical section. The map information evaluation value may be used inan aspect of permitting a predetermined driving assistance function, forexample, in a case where the map information evaluation value in apredetermined section exceeds a threshold value set in advance in thepredetermined section. An example of the predetermined drivingassistance function may be a steering assistance function or anacceleration-and-deceleration assistance function. The predetermineddriving assistance function may be permitted stepwise. A specific methodof calculating the map information evaluation value differs depending onthe type of input used by the map information generation unit 16, andthus details thereof will be described later.

The route candidate acquisition unit 18 acquires a plurality of routecandidates from an autonomous driving start location to a destinationset by the HMI 7. Specifically, the route candidates are acquiredaccording to a known method by using the GPS receiver 2, the mapdatabase 4, and the navigation system 5.

The route candidate evaluation unit 19 evaluates the route candidatesacquired by the route candidate acquisition unit 18 based on the mapinformation evaluation value calculated by the map informationevaluation value calculation unit 17. The route candidate evaluationunit 19 evaluates the accuracy of assistance control in the routecandidates. The phrase “evaluating the accuracy of assistance control”indicates evaluating to what degree of accuracy predetermined assistancecontrol can be performed in a case where the vehicle travels along acertain route candidate. An example thereof will be described below.Based on an evaluation result in the map information evaluation valuecalculation unit 17, in a route candidate, a section in whichpredetermined driving assistance control (which may be, for example,complete autonomous driving control in which a driver depends on asystem in all functions, partial autonomous driving control in which thedriver depends on the system in some of the functions, or drivingassistance control in which the driver depends on the system in asteering operation or acceleration and deceleration operations) is notsuitable to be performed is set as an unsuitable section, that is, asection in which data needed to reliably perform the predetermineddriving assistance control is not acquired is set as the unsuitablesection. Thereafter, the route candidate evaluation unit 19 calculates adistance of a section included in the unsuitable section, and evaluatesa route candidate based on the distance.

As an example of a method of setting the unsuitable section, there maybe an aspect in which, among map information evaluation values acquiredand calculated at respective locations or respective sections between acurrent location and a destination, a set of locations or sections inwhich the map information evaluation values are equal to or smaller thana predetermined threshold value is set as the unsuitable section. As anaspect of evaluating a route candidate, the route candidate may beevaluated by using an average value of map information evaluation valuesat respective locations or respective sections in the route candidate,and may be evaluated by using the smallest map information evaluationvalue in the route candidate or the greatest map information evaluationvalue in the route candidate.

Hereinafter, the aspect will be described in detail. In the vehicle 300present in a current location A, for example, a description will be madeof a case where a location B is set as a destination by the HMI 7. Theroute candidate acquisition unit 18 acquires two route candidates suchas a route candidate a and a route candidate b between the currentlocation A and the location B (refer to FIG. 3). The map informationevaluation value calculation unit 17 calculates a map informationevaluation value at each location of each route candidate. Here, a mapinformation evaluation value calculated in advance may be read from adatabase, and a map information evaluation value may be calculated atthis timing. Herein, it is assumed that evaluation values for the routecandidate a are calculated as illustrated in FIG. 4A, and evaluationvalues for the route candidate b are calculated as illustrated in FIG.4B, between the current location A and the location B. In FIGS. 4A and4B, a longitudinal axis expresses a map information evaluation value,and a transverse axis expresses a coordinate representing a positionbetween the current location A and the location B.

In this case, a section in which the map information evaluation value isequal to or smaller than a preset predetermined threshold value in theroute candidate, more specifically, a set of locations or sections maybe set as an unsuitable section. In other words, a section between alocation C and a location D is set as an unsuitable section in the routecandidate a (FIG. 4A), and sections between a location E and a locationF, and between a location G and a location H in the route candidate b(FIG. 4B) are set as an unsuitable section.

The route candidate evaluation unit 19 calculates a distance between thelocation C and the location D in the route candidate a, and sets thecalculated distance as a distance of the unsuitable section in the routecandidate a. In the route candidate b, a distance between the location Eand the location F and a distance between the location G and thelocation H are calculated, and a sum thereof is set as a distance of theunsuitable section in the route candidate b.

The route candidate priority setting unit 20 assigns priorities to theroute candidates acquired by the route candidate acquisition unit 18.Specifically, a priority of a route candidate for which an evaluationresult in the route candidate evaluation unit 19 is lower is set to behigher than priorities of other route candidates. As an example, withrespect to the respective route candidates acquired by the routecandidate acquisition unit 18, unsuitable section distances in the routecandidates calculated by the route candidate evaluation unit 19 may becompared with each other, a priority of a route candidate in which theunsuitable section distance is longer may be set to be high, and apriority of a route candidate in which the unsuitable section distanceis shorter may be set to be low. Specifically, in the above example, ina case where the distance of the unsuitable section in the routecandidate a and the distance of the unsuitable section in the routecandidate b, calculated by the route candidate evaluation unit 19, arecompared with each other, the distance of the unsuitable section in theroute candidate a is longer, and thus a priority of the route candidatea is set to be higher than a priority of the route candidate b.

The priority of each route candidate set by the route candidate prioritysetting unit 20 is used as follows. In other words, among the routecandidates acquired by the route candidate acquisition unit 18, theassistance control system 100 assists an occupant of a moving objectsuch that the moving object travels along a route candidate having thehighest priority. A specific aspect of the assistance includes an aspectin which the HMI 7 presents a route candidate having the highestpriority to the occupant of the moving object, and also includes anaspect in which the traveling controller 15 performs autonomoustraveling control along the route candidate having the highest priority.

According to the aspect, among a plurality of route candidates acquiredin advance, a priority of a route candidate that is evaluated low can beset to be higher than priorities of other route candidates. In otherwords, a route candidate that is evaluated higher than other routecandidates, that is, a route candidate in which the accuracy of the mapinformation is high is not selected on purpose, and a route candidatethat is evaluated lower than other route candidates, that is, a routecandidate in which the accuracy of the map information is lower thanthose of other route candidates is selected. Therefore, a routecandidate in which acquisition of map information is desirable byperforming a larger number of times of movement than in other routecandidates is more preferentially presented to an occupant than otherroute candidates, or a moving object more preferentially travels on theroute candidate than on other route candidates, and thus thiscontributes to increasing the accuracy of map information.

According to the aspect, efficiency of increasing the accuracy of theentire map information is improved. Here, the “entire map information”indicates map information within a usage region of the vehicle 300 (forexample, in a case where the vehicle is used with a specific location(home or office) as a base, within a peripheral region thereof (forexample, within a predetermined distance from the specific location),and, in a case where the vehicle is used for movement among a pluralityof bases, within a region including the respective bases). The phrase“increasing the accuracy of the entire map information” may include, forexample, increasing the minimum value of a map information evaluationvalue in the entire map information. A difference between the minimumvalue and the maximum value of a map information evaluation value in theentire map information may be reduced. As the accuracy of the entire mapinformation is greatly increased within a predetermined time or within apredetermined distance, efficiency of increasing the accuracy of theentire map information is improved.

Therefore, in a case where the vehicle travels on a route candidate inwhich the accuracy of map information is low, there is a highprobability that the accuracy of the entire map information may beincreased, and there is a high probability that the efficiency may beimproved, compared with a case where the vehicle travels on a routecandidate in which the accuracy of map information is high. This isbecause, in a case where the vehicle travels on a route candidate inwhich the accuracy of map information is high, for example, the minimumvalue of a map information evaluation value in the entire mapinformation is hardly improved compared with a case where the vehicletravels on a route candidate in which the accuracy of map information islow. According to the aspect, a route candidate in which the accuracy ofmap information is low is selected on purpose, and the vehicle travelson the route candidate. Therefore, the accuracy of the map informationin the route candidate in which the accuracy of the map information islow can be considerably improved, and thus the accuracy of the entiremap information can be efficiently improved.

The efficiency is improved, and thus the accuracy of the entire mapinformation is increased fast. In other words, it is possible to reducea time needed for permission of the “predetermined driving assistancefunction”, and thus to improve a driver's convenience. From the abovedescription, according to the aspect, since the route candidateevaluation unit 19 calculates a route candidate evaluation value byusing a distance of an unsuitable section in a route candidate, a routehaving a longer distance for which map information is not sufficientlyacquired can be preferentially presented or the vehicle can be caused totravel on the route, and this contributes to more efficiently acquiringmap information.

Here, a description will be made of a configuration of the assistancecontrol system 100. As described above, the assistance control system100 may be in an aspect in which the whole thereof is provided in thevehicle 300 as illustrated in FIG. 1, and may be in an aspect in whichall or some of the functions thereof may be executed by an external datacenter 500 of the vehicle 300. Specifically, as illustrated in FIG. 5,there may be an aspect in which the ECU 10 is provided in the vehicle300, a processor 50 is provided in the data center 500, and theprocessor 50 executes some of the functions of the ECU 10. In this case,in order to exchange information between the vehicle 300 and the datacenter 500, a communication device 30 is provided in the vehicle 300,and a communication device 40 is provided in the data center 500. In theexample illustrated in FIG. 5, pieces of information from the externalsensor 1, the GPS receiver 2, the internal sensor 3, the map database 4,the navigation system 5, and the HMI 7 of the vehicle 300 aretransmitted to the communication device 30. The information istransmitted to the communication device 40 from the communication device30, and is further transmitted to the processor 50 from thecommunication device 40. A processing result in the processor 50 istransmitted to the actuator 6 and the HMI 7 of the vehicle 300 via thecommunication device 40 and the communication device 30.

As illustrated in FIG. 6, the map database 4 may be provided in the datacenter 500. Also in this case, in the same manner as in FIG. 5, piecesof information from the external sensor 1, the GPS receiver 2, theinternal sensor 3, the navigation system 5, and the HMI 7 of the vehicle300 are transmitted to the communication device 30. The information istransmitted to the communication device 40 from the communication device30, and is further transmitted to the processor 50 from thecommunication device 40. A processing result in the processor 50 istransmitted to the map database 4 and the communication device 40. Theinformation is transmitted to the actuator 6 and the HMI 7 of thevehicle 300 via the communication device 40 and the communication device30. A case where each function of the ECU 10 is shared and executed bythe vehicle 300 and the data center 500 is also included in the presentembodiment.

Next, processes executed by the assistance control system 100 will bedescribed in detail with reference to flowcharts of FIGS. 7 and 8.

FIGS. 7 and 8 are flowcharts illustrating processes in the assistancecontrol system 100. In the assistance control system 100, the followingflowcharts are executed by the ECU 10.

In FIG. 7, in step S1, a driver of the vehicle 300 sets a destination byusing the HMI 7. In step S2, the route candidate acquisition unit 18acquires a plurality of route candidates from a current location to thedestination. In step S3, the route candidate priority setting unit 20sets priorities of the route candidates based on outputs from the mapinformation evaluation value calculation unit 17 and the route candidateevaluation unit 19. In step S4, assistance is given such that thevehicle 300 travels on a route candidate having the highest priority.Specifically, the HMI 7 may present the route candidate having thehighest priority to an occupant, and the traveling controller 15 maycontrol the moving object along the route candidate having the highestpriority.

As an aspect of presenting the route candidate having the highestpriority to the occupant, the HMI 7 may display a plurality of routecandidates and priorities of the route candidates in association witheach other, and the driver may select on which route candidate thevehicle is to travel based on the priorities. “Displaying the routecandidates and the priorities of the route candidates in associationwith each other” may include an aspect in which a route candidate havinga high priority is displayed to be emphasized more than a routecandidate having a low priority. Specifically, a size of text indicatinga route candidate having a high priority may be larger than a size oftext indicating a route candidate having a low priority. A color(noticeable color) indicating a route candidate having a high prioritymay be displayed to be greater in saturation than a color indicating aroute candidate having a low priority. A route candidate having a highpriority may be displayed to be higher in luminance than a routecandidate having a low priority.

An example of route candidate priority setting in step S3 is performedaccording to the flowchart of FIG. 8. In FIG. 8, in step S31, the routecandidate evaluation unit 19 sets, as an unsuitable section, a sectionnot suitable for autonomous driving in a route candidate based on mapinformation evaluation values calculated by the map informationevaluation value calculation unit 17. Next, in step S32, the routecandidate evaluation unit 19 calculates a distance of a section includedin the unsuitable section. In step S33, the route candidate prioritysetting unit 20 compares unsuitable section distances in the routecandidates calculated by the route candidate evaluation unit 19 witheach other for the respective route candidates, sets a priority of aroute candidate in which the unsuitable section distance is longer to behigh, and sets a priority of a route candidate in which the unsuitablesection distance is shorter to be low.

Aspects of the route candidate evaluation unit 19 and the routecandidate priority setting unit 20 described above are merely examples,and other aspects may be employed. For example, in the above example,the route candidate priority setting unit 20 decides a priority based ona distance of an unsuitable section calculated by the route candidateevaluation unit 19, but may decide a priority based on a weighteddistance of an unsuitable section. Here, weighting may be set from theviewpoint of whether data needed to reliably perform predetermineddriving assistance is easily collected in a section set as an unsuitablesection in a route candidate. For example, when a case where anintersection is included in a section set as an unsuitable section iscompared with a case where an intersection is not included therein, itis not easy to collect data needed to reliably perform predetermineddriving assistance in the case where an intersection is included. Inother words, a plurality of times of traveling is necessary in order tocollect the data. Conversely, it is easier to collect data needed toreliably perform predetermined driving assistance in the case where anintersection is not included than in the case where an intersection isincluded. In other words, the data can be sufficiently collected througha smaller number of times of traveling. In this case, a greater weightis applied in the case where an intersection is included in a sectionset as an unsuitable section than in the case where an intersection isnot included therein. In other words, a weighted distance of anunsuitable section is regarded to be longer than an actual distance, andthus a high priority is easily set to a route candidate including theunsuitable section. With this configuration, it is possible toefficiently improve the accuracy of the entire map information.

Hereinafter, a detailed description will be made with reference to FIG.9A. Regarding a route candidate c and a route candidate d that are routecandidates acquired by the route candidate acquisition unit 18, it isassumed that the route candidate evaluation unit 19 sets a sectionbetween a location C and a location D as an unsuitable section in theroute candidate c, and sets a section between a location E and alocation F as an unsuitable section in the route candidate d. It isassumed that a distance between the location C and the location D is thesame as a distance between the location E and the location F. It is alsoassumed that information indicating that an intersection T is presentbetween the location C and the location D and an intersection is notpresent between the location E and the location F is obtained from themap database 4. Here, weighted distances of the unsuitable sections arecompared with each other according to the method. Since the section inwhich the intersection is present between the location C and thelocation D is weighted greater than the section in which an intersectionis not present between the location E and the location F, when theweighted distances of the unsuitable sections are compared with eachother, the distance in the route candidate c is longer than that in theroute candidate d, and thus a priority of the route candidate c is setto be higher than a priority of the route candidate d.

In another method, the route candidate priority setting unit 20 maydecide a priority according to a proportion of a distance of anunsuitable section calculated by the route candidate evaluation unit 19to a distance of the entire route candidate.

The route candidate priority setting unit 20 may set a priorityaccording to the number of unsuitable sections in a route candidate, setby the route candidate evaluation unit 19. Hereinafter, a detaileddescription will be made with reference to FIG. 9B. Regarding a routecandidate e and a route candidate f acquired by the route candidateacquisition unit 18, it is assumed that the route candidate evaluationunit 19 sets a section between a location C and a location D and asection between a location E and a location F as unsuitable sections inthe route candidate e, and sets a section between a location G and alocation H as an unsuitable section in the route candidate f. In thiscase, of the route candidate e in which two unsuitable sections arepresent and the route candidate f in which a single unsuitable sectionis present, the route candidate priority setting unit 20 sets a priorityof the route candidate e in which the number of unsuitable sections islarger to be higher.

There may be an aspect in which the map information evaluation valuecalculation unit 17 calculates map information evaluation values atpredetermined intervals, sets a location (hereinafter, referred to as an“unsuitable location”) for which a map information evaluation value isequal to or smaller than a predetermined threshold value, and comparesrespective route candidates with each other in terms of the number ofunsuitable locations in each of the route candidates. Hereinafter, adetailed description will be made with reference to FIG. 9C. Regarding aroute candidate g and a route candidate h acquired by the routecandidate acquisition unit 18, it is assumed that the number ofunsuitable locations is four in the route candidate g, and is two in theroute candidate h. In this case, the route candidate priority settingunit 20 sets a priority of the route candidate g in which the number ofunsuitable locations is larger to be higher. Also in this aspect, aroute candidate having a longer distance for which map information isnot sufficiently acquired can be preferentially presented to theoccupant, or the vehicle can be controlled along the route candidate,and thus efficiency of increasing the accuracy of the entire mapinformation is improved.

Second Embodiment

Next, a second embodiment will be described. In the present embodiment,the vehicle 300 is caused to travel along a route candidate having thehighest priority set by the route candidate priority setting unit 20. Ina description of the present embodiment, differences from the firstembodiment will be focused.

FIG. 10 is a block diagram illustrating the ECU 10 of the assistancecontrol system 100 according to the second embodiment. As illustrated inFIG. 10, the assistance control system 100 of the present embodiment isdifferent from that of the first embodiment in that a changedetermination unit 21 is provided. The rest are the same as those inFIG. 2 of the first embodiment. In the same manner as in the firstembodiment, the aspects in FIGS. 5 and 6 may be employed.

The vehicle 300 travels a plurality of times on a route candidate havingthe highest priority set by the route candidate priority setting unit20, the map information generation unit 16 updates map informationaccording thereto, the map information evaluation value calculation unit17 updates a map information evaluation value, and then the changedetermination unit 21 determines a difference (change amount) betweenmap information evaluation values before and after traveling.

Specifically, a detailed description will be made. First, the changedetermination unit 21 determines whether the number of times oftraveling according to the traveling plan is a predetermined number oftimes based on a priority set by the route candidate priority settingunit 20. In a case where the vehicle 300 is traveling on a routecandidate employed in the traveling plan, the map information generationunit 16 updates the map information in response to new input from theexternal sensor 1, and the map information evaluation value calculationunit 17 updates the map information evaluation value. The changedetermination unit 21 calculates a change amount between the mapinformation evaluation value before the traveling and the mapinformation evaluation value after the traveling.

The change determination unit 21 determines whether the change amountbetween the map information evaluation values satisfies a predeterminedcondition. Specifically, in a case where the number of times oftraveling of the vehicle 300 in the traveling plan is equal to or largerthan a predetermined number of times, the change determination unit 21determines whether the change amount between the map informationevaluation values is equal to or less than a predetermined thresholdvalue (hereinafter, referred to as a “first threshold value”).Thereafter, in a case where the change determination unit 21 determinesthat the change amount between the map information evaluation values isequal to or less than the first threshold value, the route candidatepriority setting unit 20 reduces the priority of the route candidate onwhich the vehicle has travelled.

With the aspect, in a case where a map information evaluation value isnot improved despite map information being updated by causing thevehicle to travel on a route candidate having the highest calculatedpriority, the route candidate may be changed to a route candidate inwhich a map information evaluation value is more easily improved, andthe vehicle 300 may be guided to the route candidate. Therefore,efficiency of increasing the accuracy of the entire map information isimproved.

FIG. 11 is a flowchart illustrating processes executed by the assistancecontrol system 100 in detail. As described above, in the presentembodiment, the traveling plan generation unit 14 employs a routecandidate having the highest priority set by the route candidatepriority setting unit 20 in a traveling plan, and the travelingcontroller 15 causes the vehicle 300 to travel according to thetraveling plan. The flowchart of FIG. 11 is started when the vehicle istraveling or after the vehicle travels along a predetermined section.

In step S310, the change determination unit 21 determines whether thenumber of times of traveling of the vehicle 300 in the traveling plan isa predetermined number of times based on a priority set by the routecandidate priority setting unit 20. In a case where the changedetermination unit 21 determines that the number of times of travelingis smaller than the predetermined number of times, step S310 isrepeatedly executed. In a case where the change determination unit 21determines that the number of times of traveling is equal to or largerthan the predetermined number of times, the flow proceeds to step S320.In step S320, the change determination unit 21 calculates a changeamount between map information evaluation values updated by the mapinformation evaluation value calculation unit 17 before and after thepredetermined number of times of traveling is performed.

In step S330, the change determination unit 21 determines whether thechange amount between the map information evaluation values is equal toor smaller than a predetermined amount. In a case where the changedetermination unit 21 determines that the change amount is larger thanthe predetermined amount, that is, determines that the map informationevaluation value is appropriately increased through the predeterminednumber of times of traveling, the flow returns to step S310. In a casewhere the change determination unit 21 determines that the change amountis equal to or smaller than the predetermined amount, that is,determines that the map information evaluation value is notappropriately increased despite the predetermined number of times oftraveling, the flow proceeds to step S340.

Next, in step S340, the route candidate priority setting unit 20performs a process of reducing the priority of the route candidate onwhich the vehicle has travelled. In other words, in a case where thereis a plurality of route candidates, a process of relatively increasing apriority of a route candidate not employed in the traveling plan isperformed.

A predetermined condition used by the change determination unit 21 isnot limited to the above-described condition, and the changedetermination unit 21 may determine whether a change amount of a mapinformation evaluation value is equal to or more than a predeterminedthreshold value (hereinafter, referred to as a “second thresholdvalue”).

In a case where the change determination unit 21 determines that thechange amount of the map information evaluation value is equal to ormore than the second threshold value, the route candidate prioritysetting unit 20 reduces the priority of the route candidate on which thevehicle has travelled. Here, the second threshold value is preferablygreater than the first threshold value. It is preferable to use avariable value that increases as the number of times which the vehicle300 has travelled via a predetermined traveling location or on apredetermined traveling section in a route candidate increases. In acase where the change amount of the map information evaluation value isdetermined as being equal to or more than the second threshold value, itcan be said that the map information evaluation value sharply increasesrelative to the number of times of traveling. From the viewpoint ofincreasing the accuracy of the entire map information, in the abovecase, map information is preferably acquired by traveling on anotherroute candidate. Therefore, in the above case, another route candidatecan be presented to an occupant or the vehicle can be controlled alongthe route candidate by reducing a priority of a route candidate (a routecandidate having the highest priority) on which the vehicle hastravelled. Therefore, efficiency of increasing the accuracy of theentire map information is improved.

As mentioned above, according to the second embodiment, a priority of aroute candidate on which a vehicle has travelled is reduced based on achange amount of a map information evaluation value due to update of mapinformation, and thus it is possible to determine whether another routecandidate is presented to an occupant or the vehicle is controlled alongthe route candidate. Therefore, it is possible to contribute toimproving efficiency of increasing the accuracy of the entire mapinformation.

As mentioned above, the embodiments of the present disclosure have beendescribed, but the present disclosure may be implemented in variousaspects without being limited to the embodiments.

In the above description, the description has been made focusing on avehicle that can perform autonomous driving as a moving object, but thepresent disclosure is not limited thereto. For example, the presentdisclosure is applicable to a moving object in which map information ina predetermined region that is set in advance is needed to be quicklycreated, such as a self-propelled robot cleaner that travels and workson a floor surface.

In the above description, a description has been made of a process ofcreating map information by using sensor input acquired by the vehicle300, but the map information may be created by also using sensor inputfrom vehicles other than the vehicle 300. The map information may beshared with one or a plurality of other vehicles via the data center byusing a well-known communication device.

Regarding Map Information

Here, although not described in the above description, details of mapinformation and a map information evaluation value used by the mapinformation generation unit 16 and the map information evaluation valuecalculation unit 17 are will be described below. The map informationincludes not only general road maps or navigation maps but also mapinformation in various viewpoints. The map information described belowincludes stationary object map information, characteristic object mapinformation, and terrain map information. Each piece of the mapinformation has information associated with a position (absoluteposition). Hereinafter, various types of map information will bedescribed in detail.

FIG. 12 is a conceptual diagram for describing stationary object mapinformation. The stationary object map information is map informationregarding a stationary object, and indicates whether a stationary objectis present for each position. Examples of stationary objects may includeimmobile road structures such as walls or guardrails. The externalsensor 1, particularly, the LIDAR is used to detect a stationary object.The LIDAR sequentially outputs (performs scanning with) laser beams in aplurality of directions.

A peripheral space of a vehicle is divided into a plurality of voxels V.In a case where at least one laser beam is reflected at a certain voxelV_(i), a measurement result value M_(i) regarding the voxel V_(i) is setto “1”. In a case where all laser beams incident to the voxel V, passtherethrough without being reflected, the measurement result value M,regarding the voxel V, is set to “0”. The measurement result valueM_(i)=“1” indicates that a certain object is present in the voxel V_(i).On the other hand, the measurement result value M_(i)=“0” indicates thatno object is present in the voxel V_(i).

The LIDAR temporally repeatedly performs scanning with laser beams.Therefore, a plurality of temporally consecutive measurement resultvalues M, is obtained with respect to the identical voxel V_(i). An“occupancy R_(i)” regarding the voxel V_(i) is defined by an averagevalue of the measurement result values M, (a value obtained by dividingthe sum total of the measurement result values M_(i) by the number N oftimes of measurement). When the vehicle 300 is passing an identicalroad, a new measurement result value M_(i) regarding the voxel V_(i) isobtained, and thus the occupancy R_(i) is calculated again. In otherwords, the occupancy R_(i) is updated.

The occupancy R_(i)=“1” indicates that an object is present in the voxelV_(i) “at all times”. There is a high probability that an object that ispresent at all times may be a stationary object. In other words, theoccupancy R_(i)=“1” indicates that there is a high probability that astationary object may be present in the voxel V_(i). In contrast, theoccupancy R_(i)=“0” indicates that there is a high probability that astationary object may not be present in the voxel V_(i). In a case wherethe occupancy R_(i) is around 0.5, this indicates that it is not clearwhether an object is present in the voxel V_(i).

The information indicating that “there is a high probability of astationary object being present” is useful. For example, suchinformation is used to remove a stationary object from a LIDAR pointgroup and thus to detect a mobile object such as a pedestrian. Theinformation indicating that “there is a high probability of a stationaryobject not being present” is also useful. This is because, in a casewhere an object is detected in a free space in which there is nostationary object, the detected object can be regarded as a mobileobject. As mentioned above, the stationary object map information may beused to detect a mobile object.

FIG. 12 illustrates an example of a data structure of stationary objectmap information. A single data set is created for each voxel V_(i). Inthe example illustrated in FIG. 12, the data set includes a position[X,Y,Z], the occupancy R_(i), stationary object map evaluationinformation, and a stationary object map information evaluation value ofthe voxel V_(i).

The map information evaluation value calculation unit 17 calculates astationary object map information evaluation value indicating thecertainty of the stationary object map information. In other words, thestationary object map information evaluation value indicates thecertainty of a stationary object being present at the position [X,Y,Z]included in the stationary object map information. The certainty may bereplaced with accuracy or reliability. The stationary object mapinformation evaluation value may be replaced with a score.

The stationary object map evaluation information is information used tocalculate a stationary object map information evaluation value. Theevaluation information includes the number N of times of measurement.When the number N of times of measurement is small, the stationaryobject map information evaluation value is small, and, as the number Nof times of measurement becomes larger, the stationary object mapinformation evaluation value becomes greater. The stationary object mapevaluation information may include a variance of positions ofmeasurement points (reflection points) included in the voxel V. As thevariance increases, the stationary object map information evaluationvalue decreases.

The map information generation unit 16 generates and updates thestationary object map information. The map information generation unit16 generates or updates a data set regarding each voxel V, based on aposition and an azimuth of the vehicle 300.

FIG. 13 is a conceptual diagram for describing characteristic object mapinformation. The characteristic object map information is mapinformation regarding a characteristic object, and indicates a positionof the characteristic object. Examples of characteristic objects are awhite line, a signboard (areal object), and a pole (columnar object).For example, the characteristic object map information is used for alocalizing process for increasing the accuracy of position informationof the vehicle 300. Hereinafter, as an example, characteristic objectmap information regarding a white line WL will be described. This isalso the same for other characteristic objects.

A position of the white line WL is indicated by positions [Xs,Ys,Zs] and[Xe,Ye,Ze] of both ends of the white line WL. For example, the externalsensor 1, particularly, the LIDAR and the camera are used to calculate aposition of the white line WL. Specifically, a road surface imagerepresenting a road surface is generated based on camera imaginginformation or LIDAR measurement information. Next, the white line WL isextracted from the road surface image through a binarization process oran edge detection process. A position of the white line WL is calculatedbased on the camera imaging information or the LIDAR measurementinformation.

When the vehicle 300 is passing an identical road, similar white linesWL are repeatedly measured (detected), and positions of the similarwhite lines WL are repeatedly calculated. In this case, an average valueor a weighted average value of positions calculated hitherto is used asa position. In other words, whenever the similar white lines WL aremeasured, positions thereof are updated. In a case of the weightedaverage value, for example, the greatest weight is set for the latestposition. Whether the white line WL measured this time is the same asthe existing white line WL is determined depending on whether the whiteline WL measured this time is included in a peripheral predeterminedrange of the existing white line WL.

FIG. 13 illustrates an example of a data structure of the characteristicobject map information. A single data set is created for each white lineWL. In the example illustrated in FIG. 13, the data set includes aposition, characteristic object map evaluation information, and acharacteristic object map information evaluation value of the white lineWL.

The characteristic object map information evaluation value indicates“certainty” of the characteristic object map information. In otherwords, the characteristic object map information evaluation valueindicates the certainty of a characteristic object being present at theposition included in the characteristic object map information.

The characteristic object map evaluation information is information usedto calculate a characteristic object map information evaluation value.The characteristic object map evaluation information includes the numberof times of measurement, a variance of calculated positions, and thelike. For example, when the number of times of measurement is small, thecharacteristic object map information evaluation value is small, and, asthe number of times of measurement becomes larger, the characteristicobject map information evaluation value becomes greater. As the varianceof calculated positions increases, the characteristic object mapinformation evaluation value decreases.

The map information generation unit 16 generates and updates thecharacteristic object map information. Particularly, a data setregarding each white line WL (characteristic object) is generated orupdated.

FIG. 14 is a conceptual diagram for describing terrain map information.The terrain map information is map information regarding terrain, andindicates a height (altitude) Z of a road surface at a position [X,Y].The terrain map information is used as follows. For example, an obstacle(for example, a fallen object) on a road surface may be detected byremoving the road surface from a LIDAR point group. As another example,a road surface slope may be calculated based on information indicatingthe height Z, and vehicle traveling control such as acceleration anddeceleration may be planned based on the road surface slope. As stillanother example, a traveling region in which the vehicle 300 can travelmay be determined.

For example, the external sensor 1, particularly, the LIDAR is used tocalculate the height Z of a road surface at the position [X,Y].Specifically, a road surface point group representing the road surfaceis extracted from a LIDAR point group. A road surface point groupincluded in a predetermined range of the vicinity of the position [X,Y]is extracted. The height Z of the road surface at the position [X,Y] iscalculated by interpolating heights ZL_(j) of respective extracted roadsurface point groups. For example, an average value of the heightsZL_(j) of the respective extracted road surface point groups iscalculated the height Z. The number of road surface points and avariance of the respective heights ZL_(j) used to calculate the height Zmay be used as terrain map evaluation information which will bedescribed later.

When the vehicle 300 is passing an identical road, similar road surfacesare repeatedly measured (detected), and heights Z of the similar roadsurfaces are repeatedly calculated. In this case, an average value or aweighted average value of the heights Z calculated hitherto is used asthe height Z. In other words, whenever the similar road surfaces aremeasured, the heights Z thereof are updated. In a case of the weightedaverage value, for example, the greatest weight is set for the latestheight Z.

FIG. 14 illustrates an example of a data structure of the terrain mapinformation. A single data set is created for each position [X,Y]. Inthe example illustrated in FIG. 14, the data set includes each position[X,Y], the height Z, terrain map evaluation information, and terrain mapinformation evaluation value.

The terrain map information evaluation value indicates “certainty” ofthe terrain map information. In other words, the terrain map informationevaluation value indicates the certainty of a road surface being presentat the position [X,Y] and the height Z included in the terrain mapinformation.

The terrain map evaluation information is information used to calculatea terrain map information evaluation value. The terrain map evaluationinformation includes the number of times of measurement, a variance, andthe like. The number of times of measurement includes at least one ofthe number of times of calculation of the height Z and the number ofroad surface points used to calculate the heights Z. The varianceincludes at least one of a variance of the calculated heights Z and avariance of the respective heights ZL_(j) of road surface points used tocalculate the heights Z. For example, when the number of times ofmeasurement is small, the terrain map information evaluation value issmall, and, as the number of times of measurement becomes larger, theterrain map information evaluation value becomes greater. As thevariance of calculated positions increases, the terrain map informationevaluation value decreases. As another example, as a difference betweenthe height Z and a height Z′ at an adjacent position becomes greater, anevaluation value may become smaller.

The map information generation unit 16 generates and updates the terrainmap information. Specifically, a data set regarding each position [X,Y]is generated or updated.

What is claimed is:
 1. An assistance control system including a mapdatabase storing map information, and performing assistance control forcausing a moving object to move to a destination based on the mapinformation, the assistance control system comprising an electroniccontrol unit configured to generate or update the map information basedon input from a sensor mounted on the moving object, acquire a pluralityof route candidates to the destination, evaluate certainty of the mapinformation for each location or each section, and calculate a mapinformation evaluation value, evaluate accuracy of the assistancecontrol in the acquired route candidates based on the calculated mapinformation evaluation value, set a priority of a route candidate, whichis evaluated to have a lower accuracy of the assistance control amongthe route candidates, to be higher in priority than priorities of otherroute candidates, and present a route candidate having the highestpriority among the route candidates to an occupant of the moving object,or control the moving object along the route candidate having thehighest priority.
 2. An assistance control system including a mapdatabase storing map information, and performing assistance control forcausing a moving object to move to a destination based on the mapinformation, the assistance control system comprising an electroniccontrol unit configured to: generate or update the map information basedon input from a sensor mounted on the moving object, acquire a pluralityof route candidates to the destination, evaluate certainty of the mapinformation for each location or each section, and calculate a mapinformation evaluation value, evaluate accuracy of the assistancecontrol in the acquired route candidates based on the calculated mapinformation evaluation value, set a priority of a route candidateevaluated lower among the route candidates, to be higher than prioritiesof other route candidates, and present a route candidate having thehighest priority among the route candidates to an occupant of the movingobject, or control the moving object along the route candidate havingthe highest priority, wherein the electronic control unit is configuredto calculate a distance of a section in which the calculated mapinformation evaluation value is smaller than a predetermined thresholdvalue in each of the route candidates, and increase a priority of aroute candidate having the longer distance compared with a priority of aroute candidate having the shorter distance among the route candidates.3. An assistance control system including a map database storing mapinformation, and performing assistance control for causing a movingobject to move to a destination based on the map information, theassistance control system comprising an electronic control unitconfigured to: generate or update the map information based on inputfrom a sensor mounted on the moving object, acquire a plurality of routecandidates to the destination, evaluate certainty of the map informationfor each location or each section, and calculate a map informationevaluation value, evaluate accuracy of the assistance control in theacquired route candidates based on the calculated map informationevaluation value, set a priority of a route candidate evaluated loweramong the route candidates, to be higher than priorities of other routecandidates, and present a route candidate having the highest priorityamong the route candidates to an occupant of the moving object, orcontrol the moving object along the route candidate having the highestpriority, wherein the electronic control unit is configured to updatethe map information evaluation value due to movement of the movingobject along the route candidate having the highest priority, and reducethe priority of the route candidate having the highest priority based ona change amount of the map information evaluation value within apredetermined time.
 4. The assistance control system according to claim3, wherein, when the number of times of the moving object having movedalong the route candidate having the highest priority is equal to orlarger than a predetermined number of times, the electronic control unitis configured to determine whether the change amount between the mapinformation evaluation value before the moving object moves and the mapinformation evaluation value after the moving object moves is equal toor smaller than a first predetermined amount, and reduce the priority ofthe route candidate having the highest priority when the electroniccontrol unit determines that the change amount is equal to or smallerthan the first predetermined amount.
 5. The assistance control systemaccording to claim 4, wherein the electronic control unit is configuredto determine whether the change amount is equal to or larger than asecond predetermined amount larger than the first predetermined amount,and reduce the priority of the route candidate having the highestpriority when the electronic control unit determines that the changeamount is equal to or larger than the second predetermined amount.